Tune 2023 drivetrain currents and inertias
Change-Id: Ic7cf8c453443c49749a3f2eb3371f54b3489d027
Signed-off-by: Austin Schuh <austin.linux@gmail.com>
diff --git a/y2023/constants.h b/y2023/constants.h
index 598a7d3..e346677 100644
--- a/y2023/constants.h
+++ b/y2023/constants.h
@@ -40,7 +40,7 @@
}
static constexpr double kDrivetrainSupplyCurrentLimit() { return 35.0; }
- static constexpr double kDrivetrainStatorCurrentLimit() { return 40.0; }
+ static constexpr double kDrivetrainStatorCurrentLimit() { return 60.0; }
static double DrivetrainEncoderToMeters(int32_t in) {
return ((static_cast<double>(in) /
diff --git a/y2023/control_loops/python/drivetrain.py b/y2023/control_loops/python/drivetrain.py
index 863684c..05739fc 100644
--- a/y2023/control_loops/python/drivetrain.py
+++ b/y2023/control_loops/python/drivetrain.py
@@ -13,7 +13,7 @@
gflags.DEFINE_bool('plot', False, 'If true, plot the loop response.')
kDrivetrain = drivetrain.DrivetrainParams(
- J=6.0,
+ J=6.5,
mass=58.0,
# TODO(austin): Measure radius a bit better.
robot_radius=0.39,
@@ -23,7 +23,7 @@
G=(14.0 / 54.0) * (22.0 / 56.0),
q_pos=0.24,
q_vel=2.5,
- efficiency=0.80,
+ efficiency=0.75,
has_imu=True,
force=True,
kf_q_voltage=1.0,